Slice conveying device and method for digital slice scanner

Abstract

The present invention discloses a slice conveying device and method for a digital slice scanner, wherein the steering mechanism includes a linear slider, a linear slide rail, an inclined slider and an inclined slide rail, wherein the linear slider is slidably connected to the linear slide rail, the inclined slider is slidably connected to the inclined slide rail, the inclined slide rail is located above the linear slide rail and is tilted relative to the linear slide rail; the bottom center of the slice storage device is connected to the linear slider, and the slice storage device can rotate around its own central axis, the side of the slice storage device is connected to a film box connecting plate, and the slice storage device can rotate around the axis of the connection between the side and the film box connecting plate, the film box connecting plate is hinged to the inclined slider, and when the linear slider slides on the linear slide rail, the inclined slider also moves on the inclined slide rail, driving the slice storage device to rotate. The volume of the slice transport device is reduced by cooperating with the two-axis mechanical arm through the steering structure.

Description

Technical Field

[0001] The present invention relates to the technical field of slice transportation, and in particular to a slice transportation device and method of a digital slice scanner. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The production of the scanner's slice conveying device is one of the key technologies in a fully automatic high-throughput scanning digital slice scanner.

[0004] High-throughput digital slide scanners mainly add slide conveying devices and storage devices on the basis of low-throughput. The digital slide conveying device grabs the slides from the storage device, and after a series of actions of the slide conveying device, the slides are transported to the scanning area for subsequent scanning. This will greatly improve the efficiency of the whole machine. A stable and efficient slide conveying device is the key to improving the efficiency of the whole machine.

[0005] In the manufacturing method of the slice conveying device, the volume of the structure and the conversion of the slice transport direction are very critical dimensions. The slice conveying device plays a very important role in the space proportion of the whole machine. The current slice conveying device adopts a linkage three-axis mechanical arm structure. The linkage three-axis mechanical arm conveying device has a relatively obvious disadvantage. There are three dimensions in the mechanical arm space layout, and the space requirement is relatively high, which has a greater impact on the volume of the whole machine. The slice conveying device composed of the three-axis mechanical arm accounts for a large proportion of the space of the whole machine, reaching more than 50%. The space size of the whole machine has a great impact on the user experience, equipment layout and operation. Therefore, it is very important to reduce the volume of the slice conveying device. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a slice conveying device and method for a digital slice scanner, which reduces the volume of the slice conveying device by cooperating with a two-axis mechanical arm through a steering structure.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] In the first aspect, a slice conveying device of a digital slice scanner is proposed, comprising: a slice storage device, a steering mechanism and a slice taking device, the steering mechanism comprising a linear slider, a linear slide rail, an inclined slider and an inclined slide rail, the linear slider is slidably connected to the linear slide rail, the inclined slider is slidably connected to the inclined slide rail, the inclined slide rail is located above the linear slide rail and is inclined relative to the linear slide rail; the bottom center of the slice storage device is connected to the linear slider, and the slice storage device can rotate around its own central axis, the side of the slice storage device is connected to a film box connecting plate, and the slice storage device can rotate around the axis of the connection between the side and the film box connecting plate, the film box connecting plate is hinged to the inclined slider, and the film box connecting plate and the inclined slider are also connected through a first spring and a second spring, the first spring and the second spring are respectively located on both sides of the hinge point between the film box connecting plate and the inclined slider, when the linear slider slides on the linear slide rail, the inclined slider also moves on the inclined slide rail, the slice storage device rotates, and when the slice storage device rotates until the slice faces the slice taking device, the slice taking device can take the slice out of or put it in the slice storage device.

[0009] In a second aspect, a conveying method of a slice conveying device of a digital slice scanner is proposed, comprising:

[0010] The linear slider is controlled to slide on the linear slide rail, and the inclined slider is also moved on the inclined slide rail under the drive of the slice storage device, and the slice storage device rotates;

[0011] When the slice storage device rotates back to the slice facing the slice taking device, the slice taking device takes out or puts the slice into the slice storage device.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The slice storage device of the present invention is connected to the steering mechanism, the electric grab assembly is connected to the lifting drive module, and the lifting drive module is connected to the transverse drive module. Through the coordination of the steering mechanism with the lifting drive module and the transverse drive module, the volume of the slice transport device is reduced while realizing effective transportation of the slices.

[0014] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0016] Figure 1 This is a schematic diagram of the overall structure of the device disclosed in Example 1;

[0017] Figure 2 A three-dimensional diagram of the steering mechanism structure of the device disclosed in Example 1;

[0018] Figure 3 A side view of the steering mechanism of the device disclosed in Example 1;

[0019] Figure 4 An exploded view of the steering mechanism of the device disclosed in Example 1;

[0020] Figure 5 This is a schematic diagram of the rotational drive structure in the steering mechanism of the device disclosed in Example 1;

[0021] Figure 6 This is a schematic diagram of the structure of the film taking device of the device disclosed in Example 1;

[0022] Figure 7 This is a schematic diagram of the structure of the transverse drive module of the device disclosed in Example 1;

[0023] Figure 8 This is a schematic diagram of the lifting drive module structure of the device disclosed in Example 1;

[0024] Fig. 9 This is a schematic diagram of the structure of the electric gripper fixing assembly of the device disclosed in Example 1;

[0025] Fig.10 This is a schematic diagram of the structure of the laser detection component of the device disclosed in Example 1;

[0026] Fig.11 This is a schematic diagram of the structure of the electric claw drive module of the device disclosed in Example 1;

[0027] Fig.12 This is a schematic diagram of the upper clamping jaw assembly of the device disclosed in Example 1.

[0028] Among them: 1. Steering motor, 2. Linear guide rail, 3. Induction sheet, 4. Transition plate, 5. Limit block, 6. Slice storage device, 7. Slice, 8. Film box connecting plate, 9. Fixed plate, 10. Sensor, 11. Inclined slide rail, 12. Pin shaft, 13. RSF68-3 bearing, 14. Set screw, 15. First spring, 16. Inclined slider, 17. Second spring, 18. Screw, 19. RSF67-6 bearing, 20. Screw, 21. Film frame shaft, 22. Screw , 23, bearing cover plate, 24, front limit block, 25, right limit block, 26, bearing cover, 27, screws, 28, linear slider, 29, angular contact ball bearing pair, 30, traverse drive module, 31, lifting drive module, 32, electric claw fixing assembly, 33, laser detection assembly, 34, electric claw drive module, 35, upper clamp assembly, 36, lower clamp assembly, 37, pathological section, 38, section frame, 39, slice clamp assembly, 1-1, traverse motor, 1-2, traverse Shift rail, 1-3, installation base, 1-4, lead screw, 1-5, through-beam photoelectric sensor, 1-6, horizontal return to zero sensor sheet, 1-7, horizontal movement mounting plate, 2-1, lifting motor, 2-2, lifting rail, 2-3, return to zero sensor sheet, 2-4, lifting and moving mounting plate, 2-5, through-beam photoelectric sensor, 3-1, bottom guide baffle of electric claw, 3-2, bottom spring of electric claw, 3-3, front and rear slide plates of electric claw, 3-4, bottom plate of electric claw, 3-5, guide slider, 3-6, sheet Claw back plate, 3-7, mechanical proximity switch, 3-8, adjustment back plate, 4-1, photoelectric sensor, 4-2, sensor fixing plate, 5-1, drive block, 5-2, shaft GH return to zero sensor plate, 5-3, clamping jaw photoelectric sensor, 5-4, clamping jaw bearing, 5-5, shaft GH cam, 5-6, clamping jaw reducer, 5-7, clamping jaw motor, 5-8, piece clamping jaw motor mounting seat, 6-1, clamping jaw, 6-2, clamping jaw connecting piece, 6-3, clamping jaw guide rail, 6-4, guide rail mounting plate. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0031] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0032] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0033] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0034] Example 1

[0035] In order to reduce the volume of the slice transport device, in this embodiment, a slice transport device of a digital slice scanner is disclosed, such as Figure 1-9 As shown, it includes a slice storage device 6, a steering mechanism and a slice taking device, the steering mechanism includes a linear slider, a linear slide rail, an inclined slider and an inclined slide rail 11, the linear slider is slidably connected to the linear slide rail, the inclined slider is slidably connected to the inclined slide rail 11, the inclined slide rail 11 is located above the linear slide rail and is inclined relative to the linear slide rail; the bottom center of the slice storage device 6 is connected to the linear slider, and the slice storage device 6 can rotate around its own central axis, the side of the slice storage device 6 is connected to the film box connecting plate 8, and the slice storage device 6 can rotate around the axis of the connection between the side and the film box connecting plate 8, the film box connecting plate 8 is hinged to the inclined slider, and the film box connecting plate 8 and the inclined slider are also connected through a first spring 15 and a second spring 16, the first spring 15 and the second spring 16 are respectively located on both sides of the hinge point between the film box connecting plate 8 and the inclined slider, when the linear slider slides on the linear slide rail, the inclined slider also moves on the inclined slide rail 11, driving the slice storage device 6 to rotate.

[0036] A slice frame 38 is provided in the slice storage device 6 , and the slice frame 38 is provided with a plurality of slice storage spaces along the vertical direction.

[0037] The linear slider includes a second slider 28 and a transition plate 4. The second slider 28 is slidably connected to the linear slide rail. The transition plate 4 is fixed on the second slider 28. The bottom of the slice storage device 6 is connected to the slice frame shaft 21. The slice frame shaft 21 is connected to the transition plate 4 through a bearing. The bearing uses an angular contact ball paired bearing. The linear slider is threadedly connected to the steering screw, and the steering screw is connected to the output shaft of the steering motor 1. When the output shaft of the steering motor 1 rotates, the steering screw rotates to drive the linear slider to move along the linear slide rail.

[0038] The inclined sliding block includes a first sliding block 16 and a fixed plate 9 . The first sliding block 16 is slidably connected to the inclined sliding rail 11 . The fixed plate 9 is fixed on the first sliding block 16 . The fixed plate 9 is hinged to the film box connecting plate 8 .

[0039] A front limit stopper 24 , a right limit stopper 25 and a limit block 5 are arranged on the transition plate 4 , and the rotation of the slice storage device 6 is limited by the front limit stopper 24 , the right limit stopper 25 and the limit block 5 .

[0040] The slice storage device 6 can rotate 90°, and the rotation center of the slice storage device 6 coincides with the geometric center of the slice storage device 6. When the slice storage device 6 rotates, it rotates centrally. The bottom of the slice storage device 6 is connected to the slice frame shaft 21 by screws 20, and the connection position is the geometric center of the slice storage device 6. The inner ring of the angular contact ball pair bearing 29 is connected to the slice frame shaft 21, and the outer ring is connected to the transition plate 4. The angular contact ball pair bearing 29 is pressed and fixed in the transition plate 4 by a bearing cover plate 23. The slice frame shaft 21 is pressed and connected to the angular contact ball pair bearing 29 by a bearing cover 26, and fixed by screws 27, so that the slice frame shaft 21 and the transition plate 4 are connected together through the angular contact ball pair bearing 29 and can rotate relative to each other. Finally, the second slider 28 is connected to the transition plate 4. The front limit block 24, the right limit block 25 and the limit block 5 will limit the rotation of the slice storage device 6 by 90 degrees during the rotation process, and can accurately adjust the angle when reaching the limit. This connection method has the characteristics of extremely small radial shake, easy to ensure rotation accuracy, and easy to adjust the rotation angle.

[0041] The fixed plate 9 is connected to the first slider 16 by screws. The first slider 16 can move freely on the inclined slide 11 under the drive of the linear slide 2. Two set screws 14 are installed on the fixed plate 9 and the first spring 15 and the second spring 17 are installed at two positions respectively. The set screw 14 plays a guiding role for the first spring 15 and the second spring 17. The film box connecting plate 8 is connected to the fixed plate 9 by the pin 12. The RSF68-3 bearing 13 is arranged between the pin 12 and the fixed plate 9. The film box connecting plate 8 and the fixed plate 9 can rotate relative to each other, and the film box connecting plate 8 is supported by the first spring 15 and the second spring 17. The first spring 15 and the second spring 17 have the same length specifications and keep the two parts in a parallel state. When the non-parallel state occurs, the spring on one side will be compressed. This compression force is the locking force of the slice storage device 6. The greater the compression, the greater the locking force. The slice storage device 6 is connected to the slice box connecting plate 8 by means of screws 18 and RSF67-6 bearings 19, and the connection position is not at the geometric center of the slice storage device 6, but at the side of the slice storage device 6, which is the key point for driving the slice storage device 6 to rotate. When the output shaft of the steering motor 1 rotates, the steering screw rotates to drive the linear slider to move along the linear slide rail 2, and the slice storage device 6 follows the movement of the linear slider, thereby driving the first slider 16 to move on the inclined slide rail 11. Since the inclined slide rail 11 has a certain inclination angle, the distance from the geometric center of the slice storage device 6 will change, and this change will drive the slice storage device 6 to rotate around the geometric center. During the rotation, if the limit block 5 exceeds 90°, it will stop the slice storage device 6 from rotating further. If the linear slider continues to move, it will cause the cassette connecting plate 8 and the fixing plate 9 to be non-parallel. At this time, the spring will generate a locking force. Since one rotation direction of the slice storage device 6 is limited by the limit block 5, the compression force of the compressed spring will limit the other rotation direction of the slice storage device 6. Both directions are limited, and the slice storage device 6 is in a locked state. This locking and driving structure is used to drive the slice storage device 6 to rotate, and the slice storage device 6 is locked after the rotation reaches the limit. It not only solves the rotation action but also ensures the locking after the rotation is in place.

[0042] Figure 2 and Figure 3 are the relative positions of the slice storage device in two working states, Figure 2 This is the manual storage station for slices. Slices are manually placed in the slice storage device 6 at this station. Figure 3 It is a slice automatic grabbing and storage station, where a slice taking device takes slices out of the slice storage device 6 or puts slices into the slice storage device 6.

[0043] In addition, a position sensor 10 and a sensing sheet 3 are provided. The zero point position of the second sliding block 28 is monitored by the sensor 10 , and the position of the slice storage device 6 is monitored by the sensing sheet 3 .

[0044] The film taking device comprises a transverse driving module 30 , a lifting driving module 31 and an electric gripping assembly. The lifting driving module 31 is slidably connected to the transverse driving module 30 , and the electric gripping assembly is slidably connected to the lifting driving module 31 .

[0045] The transverse driving module 30 includes a transverse slide rail 1-2, on which a transverse slider capable of moving along the transverse slide rail 1-2 is arranged, the transverse slider is threadedly connected to the transverse screw rod 1-4, the transverse screw rod 1-4 is connected to the output shaft of the transverse motor 1-1, when the output shaft of the transverse motor 1-1 rotates, the transverse screw rod 1-4 rotates to drive the transverse slider to move along the transverse slide rail 1-2, the lifting driving module 31 is connected to the transverse slider, the transverse slide rail 1-2 is installed on the mounting base 1-3, and a through-beam photoelectric sensor 1-5 and a transverse return to zero sensor sheet 1-6 are also arranged, the transverse return to zero sensor sheet 1-6 is installed on the transverse slider, and the through-beam photoelectric sensor 1-5 detects whether the transverse return to zero sensor sheet 1-6 is at the origin position to determine whether the transverse slider is at the zero position.

[0046] The lifting drive module 31 includes a lifting slide rail 2-2, on which a lifting slider that can move along the lifting slide rail 2-2 is arranged, the lifting slider is threadedly connected to the lifting screw, and the lifting screw is connected to the output shaft of the lifting motor 2-1. When the output shaft of the lifting motor 2-1 rotates, the lifting screw rotates to drive the lifting slider to move along the lifting slide rail 2-2, and the electric gripper assembly is connected to the lifting slider. The lifting drive module 31 is also provided with a photoelectric sensor and a zero return sensor 2-3. The zero return sensor 2-3 is arranged on the lifting slider, and the photoelectric sensor detects whether the zero return sensor 2-3 is at the origin position to determine whether the lifting slider is at the zero position.

[0047] Specifically, the lifting slide rail 2-2 is connected to the transverse moving mounting plate 1-7, and the transverse moving mounting plate 1-7 is connected to the transverse moving slider.

[0048] The electric gripper assembly comprises an upper clamping jaw assembly and a lower clamping jaw assembly, both of which are fixed on the electric gripper fixing assembly, and the electric gripper fixing assembly is connected to the lifting slide block.

[0049] Specifically: the electric gripper assembly includes an upper jaw assembly 35, a lower jaw assembly 36 and a laser detection assembly. The upper jaw assembly, the lower jaw assembly and the laser detection assembly 33 are all fixed on the electric gripper fixing assembly 32. The electric gripper fixing assembly 32 is connected to the lifting and moving mounting plate 2-4, and the lifting and moving mounting plate 2-4 is connected to the lifting slider.

[0050] The electric gripper fixing assembly 32, such as Fig. 9 As shown, it includes: a guide baffle 3-1 at the bottom of the electric claw, a spring 3-2 at the bottom of the electric claw, a front and rear slide plate 3-3 of the electric claw, a bottom plate 3-4 of the electric claw, a guide slider 3-5, a claw back plate 3-6, a mechanical proximity switch 3-7 and an adjustment back plate 3-8, the claw back plate 3-6 is connected to the bottom plate 3-4 of the electric claw, a guide slider 3-5 is arranged on the bottom plate 3-4 of the electric claw, a slide groove matching the guide slider 3-5 is arranged on the front and rear slide plates 3-3 of the electric claw, and the front and rear slide plates 3-3 of the electric claw are connected to the guide through the slide groove The slider 3-5 is connected and can move along the guide slider 3-5. The guide baffle 3-1 at the bottom of the electric claw is connected to the second end of the electric claw bottom plate 3-4 to block one end of the guide slider 3-5. The first end of the electric claw bottom plate 3-4 is connected to the claw back plate 3-6. The claw back plate 3-6 is provided with an adjustment back plate 3-8. The adjustment back plate 3-8 is connected to the lifting and moving mounting plate 2-4. The installation position of the electric gripper fixing assembly 32 on the lifting and moving mounting plate 2-4 is adjusted by adjusting the back plate 3-8. The electric claw front and rear slide plates 3-3 are installed with an electric claw driving module 34 and a laser detection assembly 33. The upper clamping jaw assembly 35 and the lower clamping jaw assembly 36 are both connected to the electric claw driving module 34. The electric claw front and rear slide plates 3-3 move on the guide slider 3-5 to achieve position adjustment of the upper clamping jaw assembly 35 and the lower clamping jaw assembly 36.

[0051] Laser detection components such as Fig.10 As shown, it includes a photoelectric sensor 4-1 and a sensor fixing plate 4-2. The photoelectric sensor 4-1 is installed on the sensor fixing plate 4-2. The sensor fixing plate 4-2 is connected to the front and rear slide plates 3-3 of the electric claw. The zero position of the upper jaw assembly and the lower jaw assembly is detected by the photoelectric sensor 4-1.

[0052] The electric claw drive module 34, such as Fig.11 As shown, it includes an upper jaw driving module and a lower jaw driving module, and the upper jaw driving module and the lower jaw driving module both include a jaw motor 5-7, a jaw reducer 5-6, a claw motor mounting seat 5-8, a shaft GH cam 5-5 and two driving blocks 5-1. The jaw motor 5-7 is connected to the jaw reducer 5-6, and the output shaft of the jaw reducer 5-6 is connected to the shaft GH cam 5-5, and the shaft GH cam 5-5 can rotate following the output shaft of the jaw reducer 5-6. The two driving blocks 5-1 are symmetrically arranged on both sides of the shaft GH cam 5-5, and a slide groove for the driving block 5-1 to move is arranged on the claw motor mounting seat 5-8, and the driving block 5-1 is installed in the slide groove. When the shaft GH cam 5-5 rotates, the driving block 5-1 moves in the slide groove, and the jaw reducer 5-6 is fixed on the claw motor mounting seat 5-8.

[0053] Among them, the driving block 5-1 is connected to the clamping jaw bearing 5-4, and the clamping jaw bearing 5-4 is installed in the slide groove and can roll along the slide groove.

[0054] In addition, a shaft GH return to zero sensing piece 5-2 is provided to detect the zero position of the driving block 5-1.

[0055] The upper clamping jaw assembly and the lower clamping jaw assembly are as follows Fig.12 As shown, they include two clamping jaws 6-1, two clamping jaw connecting members 6-2, a clamping jaw guide rail 6-3 and a guide rail mounting plate 6-4. The clamping jaw guide rail 6-3 is mounted on the guide rail mounting plate 6-4. The two clamping jaws 6-1 are respectively connected to the clamping jaw connecting members 6-2. The clamping jaw connecting members 6-2 are slidably connected to the clamping jaw guide rail 6-3 and can move along the clamping jaw guide rail 6-3. The guide rail mounting plate 6-4 is connected to the claw motor mounting seat 5-8. The two clamping jaw connecting members 6-2 are respectively connected to the driving block 5-1. The driving block 5-1 moves to drive the two clamping jaws 6-1 to open and clamp.

[0056] The initialization process of the film picking device is as follows: after the photoelectric sensor 1-5 is powered on, it detects whether the lateral return to zero sensor 1-6 is at the origin position. If the lateral return to zero sensor 1-6 is at the origin position, the lateral movement motor 1-1 rotates forward, driving the lateral movement screw 1-4 to rotate, so that the 1-7 lateral movement mounting plate 1-7 and the lifting drive module 21, electric claw fixing assembly 32, laser detection assembly 33, electric claw drive module 34, upper clamping jaw assembly 35, and lower clamping jaw assembly 36 installed thereon move forward as a whole. When the lateral return to zero sensor leaves the origin position, the lateral movement motor 1-1 rotates in the reverse direction. Rotate to make the lateral moving mounting plate move toward the origin as a whole. When it returns to the origin position again, the photoelectric sensor 1-5 sends a signal and stops moving. This is the zero return confirmation. If the lateral zero return sensing plate 1-6 is not at the origin position, the lateral moving motor 1-1 rotates in the opposite direction, driving the lateral moving screw rod 1-4 to rotate, so that the lateral moving mounting plate 1-7 moves backward as a whole. After returning to the origin position, repeat the zero return confirmation steps to perform zero return confirmation. After completion, the lifting zero return confirmation, the upper clamping jaw assembly zero return confirmation, and the lower clamping jaw assembly zero return confirmation are performed in turn. The steps are the same as the above steps.

[0057] After the slice taking device is initialized, the upper clamp assembly opens, the upper clamp moves to the slice frame position, clamps the slice, grabs the slice, and places it on the scanning device; after the scanning is completed, the upper clamp takes out another slice in the slice frame, moves to the scanning device position, the lower clamp takes out the upper slice, the upper clamp places the other slice on the scanning device, and the lower clamp places the taken slice into the slice frame.

[0058] Wherein, in the vertical direction, the position of the steering mechanism is higher than the lowest point of the film taking device on the lifting drive module.

[0059] When the steering mechanism drives the slice storage device to rotate to the slice grabbing waiting position, the slices of the slice storage device face the upper clamping jaw assembly and the lower clamping jaw assembly of the slice taking device, corresponding to the upper clamping jaw assembly or the lower clamping jaw assembly in the horizontal direction.

[0060] When the steering mechanism drives the slice storage device to rotate until the slices in the slice storage device face the slice taking device, by controlling the movement of the transverse drive module and the lifting drive module, the upper clamping jaw assembly and the lower clamping jaw assembly can correspond to the slices in the slice storage device 5, and the slices can be taken out of or put into the slice storage device.

[0061] The present embodiment discloses a slice conveying device of a digital slice scanner, and the process of transporting slices is as follows:

[0062] When a user stores slices in the slice storage device 5, the slice storage device is driven to rotate to the position where the slices are stored. Figure 2 At the position shown, the user stores the slices in the slice storage device.

[0063] When it is necessary to grab a slice from the slice storage device 5 and place it in the slice holder assembly 2 of the digital slice scanner, first, the slice storage device is driven to rotate to the position where the slice is located by the steering mechanism. Figure 3 In the position shown, the slices in the slice storage device face the slice retrieval device, and the slice storage device and the upper clamping jaw assembly in the slice retrieval device correspond in the horizontal direction. This position is the working position of the slice retrieval device.

[0064] Secondly, control the lateral drive module and the lifting drive module to move the upper clamping jaw assembly to a position where the slice to be taken out from the slice storage device can be taken out. Specifically:

[0065] By controlling the lifting drive module, the upper clamping jaw assembly moves to the same height as the slice to be taken;

[0066] The lateral movement driving module is controlled to move the upper clamping jaw assembly closer to the slice storage device to a position where the slice to be taken can be taken out of the slice storage device through the upper clamping jaw assembly.

[0067] Again, the slice to be taken is grasped by the upper clamping jaw assembly.

[0068] Then, the upper clamping jaw assembly is controlled to move along the lifting drive module, and the lifting drive module is controlled to move along the lateral drive module, so that the upper clamping jaw assembly reaches the set distance directly above the sheet clamp assembly, specifically:

[0069] By controlling the lateral drive module to move in the reverse direction, that is, to move away from the slice storage device, the upper clamping jaw assembly completely removes the slice to be taken from the slice storage device;

[0070] Control the lifting drive module to move toward the film clamp assembly until the upper clamp assembly is at a set distance from the film clamp assembly. At this time, the upper clamp assembly is slightly higher than the film clamp assembly in the horizontal direction.

[0071] By controlling the movement of the lateral drive module, the upper clamping jaw assembly is moved toward the direction close to the film clamping assembly until the upper clamping jaw assembly is located directly above the film clamping assembly.

[0072] Finally, the upper clamp assembly releases the slice to be taken to the film clamp assembly, and the upper clamp assembly releases the grasped slice to be taken. At this time, the slice to be taken will be released from the upper clamp assembly to the film clamp assembly under the action of gravity, and the slice release action is completed.

[0073] Before scanning the slice to be taken, the upper clamping jaw assembly is moved away from the slice clamping assembly and returned to a safe area by controlling the movement of the lateral drive module, and then the scanning operation is started.

[0074] When the slice on the film clamp assembly is scanned and the slice is put back into the slice storage device, first, the lateral drive module and the lifting drive module are controlled to move the lower clamp assembly to a position where the slice in the film clamp assembly can be grasped. Specifically:

[0075] Control the movement of the lifting drive module to move the lower clamping jaw assembly toward the sheet clamping assembly so that the lower clamping jaw assembly and the sheet clamping assembly remain level;

[0076] The movement of the lateral drive module is controlled to move the lower clamping jaw assembly toward the film clamping assembly, until the lower clamping jaw assembly can grab the slice in the film clamping assembly.

[0077] Secondly, the slices in the slice clamp assembly are grabbed by the lower clamping jaw assembly.

[0078] Next, the lifting drive module is controlled to move so that the lower clamping jaw assembly moves to a position where the slice can be placed in the empty space of the slice storage device, specifically:

[0079] Control the movement of the lateral drive module to move the lower clamping jaw assembly away from the sheet clamping assembly;

[0080] Control the movement of the lifting drive module to move the lower clamping jaw assembly toward the empty space of the slice storage device until the lower clamping jaw assembly and the empty space of the slice storage device are at the same height, and the horizontal position at this time is the horizontal position where the slice is placed;

[0081] The lateral drive module is controlled to move so that the lower clamping jaw assembly moves toward the direction close to the slice storage device until the lower clamping jaw assembly can put the slice into the empty position of the slice storage device.

[0082] Finally, the lower clamping jaw assembly is controlled to place the slice into the empty space of the slice storage device, and the transverse driving module moves to move the lower clamping jaw assembly away from the slice storage device until it reaches a safe area.

[0083] The slice conveying device disclosed in this embodiment cooperates with the slice taking device with two-axis motion through a steering mechanism, thereby reducing the volume of the slice conveying device while achieving effective transportation of the slices.

[0084] Example 2

[0085] In this embodiment, a conveying method of a slice conveying device of a digital slice scanner disclosed in Embodiment 1 is disclosed, comprising:

[0086] The linear slider is controlled to slide on the linear slide rail, and the inclined slider is also moved on the inclined slide rail under the drive of the slice storage device, and the slice storage device rotates;

[0087] When the slice storage device rotates back to the slice facing the slice taking device, the slice taking device takes out or puts the slice into the slice storage device.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A slice conveying device for a digital slice scanner, characterized in that: include: A slice storage device, a steering mechanism and a slice taking device, wherein the steering mechanism comprises a linear slider, a linear slide rail, an inclined slider and an inclined slide rail, wherein the linear slider is slidably connected to the linear slide rail, the inclined slider is slidably connected to the inclined slide rail, the inclined slide rail is located on one side of the linear slide rail and is tilted relative to the linear slide rail; the bottom center of the slice storage device is connected to the linear slider, and the slice storage device can rotate around its own central axis, the side of the slice storage device is connected to the film box connecting plate, and the slice storage device can rotate around the axis of the connection between the side and the film box connecting plate, the film box connecting plate is hinged to the inclined slider, and the film box connecting plate and the inclined slider are also connected through a first spring and a second spring, the first spring and the second spring are respectively located on both sides of the hinge point between the film box connecting plate and the inclined slider, when the linear slider slides on the linear slide rail, the inclined slider also moves on the inclined slide rail, driving the slice storage device to rotate, and when the slice storage device rotates until the slice faces the slice taking device, the slice taking device can take the slice out of or put in the slice storage device; The linear slider includes a second slider and a transition plate, the second slider is slidably connected to the linear slide rail, the transition plate is fixed on the second slider, the bottom of the slice storage device is connected to the slice frame shaft, and the slice frame shaft is connected to the transition plate through a bearing; A front limit stopper, a right limit stopper and a limit block are arranged on the transition plate, and the rotation of the slice storage device is limited by the front limit stopper, the right limit stopper and the limit block; The film taking device comprises a transverse driving module, a lifting driving module and an electric grasping assembly. The lifting driving module is slidably connected to the transverse driving module and can move along the transverse driving module. The electric grasping assembly is slidably connected to the lifting driving module and can move along the lifting driving module. The lifting drive module comprises a lifting slide rail, on which a lifting slider capable of moving along the lifting slide rail is arranged; The electric gripper assembly comprises an upper clamping jaw assembly and a lower clamping jaw assembly, both of which are fixed on the electric gripper fixing assembly, and the electric gripper fixing assembly is connected to the lifting slide block.

2. A slice conveying device for a digital slice scanner as claimed in claim 1, characterized in that: A slice frame is arranged in the slice storage device, and a plurality of slice storage spaces are arranged in the slice frame along the vertical direction.

3. The slice conveying device of a digital slice scanner according to claim 1, characterized in that: The linear slider is threadedly connected to the steering screw rod, and the steering screw rod is connected to the output shaft of the steering motor. When the output shaft of the steering motor rotates, the steering screw rod rotates to drive the linear slider to move along the linear slide rail.

4. The slice conveying device of a digital slice scanner as claimed in claim 1, characterized in that: The inclined sliding block comprises a first sliding block and a fixed plate, the first sliding block is slidably connected with the inclined sliding rail, the fixed plate is fixed on the first sliding block, and the fixed plate is hinged with the film box connecting plate.

5. The slice conveying device of a digital slice scanner as claimed in claim 1, characterized in that: The transverse driving module includes a transverse slide rail, on which a transverse slider that can move along the transverse slide rail is arranged, the transverse slider is threadedly connected to the transverse screw rod, and the transverse screw rod is connected to the output shaft of the transverse motor. When the output shaft of the transverse motor rotates, the transverse screw rod rotates to drive the transverse slider to move along the transverse slide rail, and the lifting driving module is connected to the transverse slider.

6. The slice conveying device of a digital slice scanner as claimed in claim 1, characterized in that: The lifting slider is threadedly connected to the lifting screw rod, and the lifting screw rod is connected to the output shaft of the lifting motor. When the output shaft of the lifting motor rotates, the lifting screw rod rotates to drive the lifting slider to move along the lifting slide rail, and the electric grab assembly is connected to the lifting slider.

7. The conveying method of the slice conveying device of the digital slice scanner according to claim 1, characterized in that: Also includes: The linear slider is controlled to slide on the linear slide rail, and the inclined slider is also moved on the inclined slide rail under the drive of the slice storage device, and the slice storage device rotates; When the slice storage device rotates back to the slice facing the slice taking device, the slice taking device takes out or puts the slice into the slice storage device.

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